US20140376693A1 - Device and method for capturing x-ray image of bone-in meat and deboning system of bone-in meat including the device - Google Patents
Device and method for capturing x-ray image of bone-in meat and deboning system of bone-in meat including the device Download PDFInfo
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- US20140376693A1 US20140376693A1 US14/484,661 US201414484661A US2014376693A1 US 20140376693 A1 US20140376693 A1 US 20140376693A1 US 201414484661 A US201414484661 A US 201414484661A US 2014376693 A1 US2014376693 A1 US 2014376693A1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
- G01N23/02—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material
- G01N23/04—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and forming images of the material
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- A—HUMAN NECESSITIES
- A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
- A22B—SLAUGHTERING
- A22B5/00—Accessories for use during or after slaughtering
- A22B5/0017—Apparatus for cutting, dividing or deboning carcasses
- A22B5/0035—Deboning or obtaining boneless pieces of meat from a carcass
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- A—HUMAN NECESSITIES
- A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
- A22B—SLAUGHTERING
- A22B5/00—Accessories for use during or after slaughtering
- A22B5/0064—Accessories for use during or after slaughtering for classifying or grading carcasses; for measuring back fat
- A22B5/007—Non-invasive scanning of carcasses, e.g. using image recognition, tomography, X-rays, ultrasound
-
- A—HUMAN NECESSITIES
- A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
- A22C—PROCESSING MEAT, POULTRY, OR FISH
- A22C17/00—Other devices for processing meat or bones
- A22C17/004—Devices for deboning meat
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- A—HUMAN NECESSITIES
- A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
- A22C—PROCESSING MEAT, POULTRY, OR FISH
- A22C17/00—Other devices for processing meat or bones
- A22C17/0073—Other devices for processing meat or bones using visual recognition, X-rays, ultrasounds, or other contactless means to determine quality or size of portioned meat
- A22C17/0086—Calculating cutting patterns based on visual recognition
-
- A—HUMAN NECESSITIES
- A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
- A22C—PROCESSING MEAT, POULTRY, OR FISH
- A22C17/00—Other devices for processing meat or bones
- A22C17/0093—Handling, transporting or packaging pieces of meat
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
- G01N23/02—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material
- G01N23/04—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and forming images of the material
- G01N23/044—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and forming images of the material using laminography or tomosynthesis
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/02—Food
- G01N33/12—Meat; fish
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- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21K—TECHNIQUES FOR HANDLING PARTICLES OR IONISING RADIATION NOT OTHERWISE PROVIDED FOR; IRRADIATION DEVICES; GAMMA RAY OR X-RAY MICROSCOPES
- G21K1/00—Arrangements for handling particles or ionising radiation, e.g. focusing or moderating
Abstract
An X-ray image capturing device of bone-in meat for capturing an X-ray image of the bone-in meat that is from an arm part or a thigh part of a livestock carcass in a state where the bone-in meat is suspended, comprises: an X-ray source for irradiating the bone-in meat with an X-ray; a shielding box for covering the bone-in meat while the X-ray image is captured; a sensor which is disposed in the shielding box and which detects the X-ray which passes through the bone-in meat; and a filter which is disposed between the bone-in meat and the X-ray source and which adjusts an intensity distribution of the X-ray with which the bone-in meat is irradiated.
Description
- This application is a continuation of International Application No. PCT/JP2013/055299, filed on Feb. 28, 2013, and is based on and claims priority to Japanese Patent Application No. JP 2012-056286, filed on Mar. 13, 2012. The disclosure of the Japanese priority application and the PCT application in their entirety, including the drawings, claims, and the specification thereof, are incorporated herein by reference.
- 1. Field of the Invention
- The present invention relates to a device and a method for capturing x-ray image of bone-in meat from an arm part or a thigh part of a livestock carcass, and a deboning system of bone-in meat including the device.
- 2. Discussion of the Background
- A carcass of livestock such as a pig, a cow, or a sheep is served as meat. A deboning method of bone-in meat (hereinafter referred to as a “work”) from an arm part or a thigh part of the livestock carcass roughly has a pre-processing step, an incision making step, and a meat separation step. In the pre-processing step, a hip bone and the like are removed. In the incision making step, an incision is made along a forearm bone and an upper arm bone of the work in the case where the work is the arm part, and an incision is made along a lower thigh bone and a thigh bone of the work in the case where the work is the thigh part. In the meat separation step, meat is torn from bones of the work.
- The present inventors propose a deboning system in which the incision making step and the meat separation step are automatically performed.
- For example, in the deboning system disclosed in Japanese Patent Application Laid-open No. 2008-99574 (Patent Document 1), the work in which incision making of the forearm bone is manually performed in the pre-processing step is supplied. The supplied work is suspended from a clamp manually, and is sent to a robot arm which performs the incision making step.
- A cutter tool is attached to the robot arm, and the cutter tool executes the incision making with a predetermined course using the robot arm. The length of the work is measured by using a photoelectric sensor in advance and the course of the incision making is determined on the basis of the measurement result. During the incision making step, the work is held by a work holding mechanism while being suspended by the clamp.
- In addition, in the meat separation step of the deboning system, the work is lifted while being rotated in a state where a cutter is in contact with the work, and the forearm bone and the upper arm bone are thereby removed the work. The lift amount of the work is also determined on the basis of the measurement result of the length of the work.
- Thereafter, a shoulder blade is removed from the work. Specifically, after the work from which the forearm bone and the arm bone have been removed is transferred to a belt conveyor, the work is rested at a predetermined position by a V-shaped guide. Subsequently, incision making is performed along the shoulder blade of the work. After the incision making, the work is conveyed again by the belt conveyor. When the work reached a predetermined conveyance position, the belt conveyor is stopped, and the shoulder blade of the work is chucked and removed by a chuck cutter and a U-shaped cutter.
- Japanese Patent Application Laid-open No. 1994-324006 (Patent Document 2) discloses the processing equipment of meat tissue. This processing equipment acquires a position information related to a sinew, a tendon, a born, or the like of bone-in meat by using an X-ray irradiation device, and cuts the sinew, the tendon, the born, or the like based on the acquired position information. Specifically, the bone-in meat on the mounting table is irradiated with the X-ray in a vertical direction.
- The processing equipment described in
Patent Document 2 irradiates the bone-in meat on the mounting table with the X-ray in the vertical direction. In a case where the X-ray image picked up with the stereotypical arrangement is used, it is difficult to acquire accurate information related to a position of the bone or a shape of the bone in the bone-in meat. If an incision making is performed based on inaccurate information, a yield rate decreases because the trajectory of the cutter deviates from the bone and the meat remains on the bone, or an excessive load is applied to the cutter because the cutter cuts into the bone. - Specifically, in a case where the incision making is performed in a state where a work moves at high speed, the decrease of the yield rate or the excessive load of the cutter becomes remarkable. Thus, it is necessary to slow down a moving speed of the work, and, as a result, ability of processing decreases.
- Embodiments of the present invention provide a device and a method for capturing a clear x-ray image of bone-in meat from an arm part or a thigh part of a livestock carcass, and a deboning system of bone-in meat including the device.
- According to an aspect of the present invention, there is provided an X-ray image capturing device of bone-in meat for capturing an X-ray image of the bone-in meat including an arm part or a thigh part of a livestock carcass in a state where the bone-in meat is suspended, including: an X-ray source for irradiating the bone-in meat with an X-ray; a shielding box for covering the bone-in meat while the X-ray image is picked up; a sensor which is disposed in the shielding box and which detects the X-ray which passes through the bone-in meat; and a filter which is disposed between the bone-in meat and the X-ray source and which adjusts an intensity distribution of the X-ray with which the bone-in meat is irradiated.
- According to the X-ray image capturing device of the bone-in meat, the filter adjusts the intensity distribution of the X-ray with which the bone-in meat is irradiated, and hence the clear X-ray image can be picked up. Consequently, when the incision making is performed on the bone-in meat based on the X-ray image, the trajectory of the incision making is accurately conforms to the shape of the bone. Thus, yields can be improved and application of an excessive load to the cutter is prevented.
- Preferably, the bone-in meat is suspended from a clamp going around an endless track, and the X-ray image capturing device further includes a rotation mechanism for rotating the clamp so that the bone-in meat rotates about a vertical axis in a rotation direction corresponding to a right or a left of the bone-in meat in order to capture the X-ray image.
- According to the above configuration, the bone-in meat rotates about the vertical axis in the rotation direction corresponding to the right or the left of the bone-in meat, and hence the X-ray image which is suitable for decision about the trajectory of the incision making can be picked up. Consequently, in performing the incision making based on the X-ray image, yields can be further improved and application of an excessive load to the cutter is prevented more effectively.
- Preferably, the rotation mechanism rotates the clamp such that an incident angle of the X-ray relative to a cut surface of the bone-in meat separated from the body is more than 30° and less than 45°.
- According to the above configuration, it is possible to reliably capture an X-ray image suitable for decision of the trajectory of the incision making by rotating the clamp such that an incident angle of the X-ray relative to a cut surface of the bone-in meat separated from the trunk is more than 30° and less than 45°.
- Preferably, the X-ray image capturing device of bone-in meat further includes a shielding-box movement mechanism which moves the shielding box in a direction along the endless track and a direction orthogonal to the endless track in synchronization with the clamp.
- According to the above configuration, the X-ray image can be picked up while the clamp moves. Consequently, when the X-ray image capturing device of bone-in meat is applied to a deboning system, the X-ray image can be picked up without decreasing an ability of processing of the deboning system.
- According to an aspect of the present invention, there is provided a deboning system including an incision making device which performs incision making on the bone-in meat based on the X-ray image picked up by any one of the above-described X-ray image capturing devices.
- According to the above configuration, since the incision making is performed based on the clear X-ray image, the meat which remains on the bone can be reduced and the yield rate can be increased. Further, the cutting of the cutter into the bone can be prevented, and the excessive load on the cutter can be prevented.
- According to an aspect of the present invention, there is provided an X-ray image capturing method for capturing an X-ray image of the bone-in meat including an arm part or a thigh part of a livestock carcass in a state where the bone-in meat is suspended, including the steps of: irradiating the bone-in meat with an X-ray from an X-ray source; covering the bone-in meat with a shielding box in which a sensor for detecting the X-ray passing through the bone-in meat is disposed; and disposing a filter between the bone-in meat and the X-ray source, the filter being configured to adjust an intensity distribution of the X-ray with which the bone-in meat is irradiated.
- According to the X-ray image capturing method of the bone-in meat, the filter adjusts the intensity distribution of the X-ray with which the bone-in meat is irradiated, and hence the clear X-ray image can be picked up. Consequently, when the incision making is performed on the bone-in meat based on the X-ray image, the trajectory of the incision making is accurately conforms to the shape of the bone. Thus, yields can be improved and application of an excessive load to the cutter is prevented.
- According to the present invention, there are provided a device and a method for capturing a clear x-ray image of bone-in meat from an arm part or a thigh part of a livestock carcass, and a deboning system of bone-in meat including the device.
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FIG. 1 is a view schematically showing the entire configuration of a deboning system of bone-in meat of an embodiment of the present invention; -
FIG. 2 is a flowchart showing processing procedures of a deboning method executed by the deboning system ofFIG. 1 ; -
FIG. 3 is a view for explaining an arm part and a thigh part of a pig; -
FIG. 4 is a view for explaining a pre-processing step inFIG. 2 ; -
FIGS. 5( a), 5(b), 5(c), 5(d), 5(e), and 5(f) are views for explaining the pre-processing step inFIG. 2 ; -
FIG. 6 is a view for explaining the size of a work after the pre-processing step inFIG. 2 ; -
FIG. 7 is a plan view schematically showing the configuration of a left/right determination station together with a part of a suspension station; -
FIG. 8 is a plan view schematically showing the configuration of the left/right determination station; -
FIG. 9 is a side view for explaining the disposition of a photoelectric sensor; -
FIG. 10 is a perspective view schematically showing a part around a tip of a movement regulation bar; -
FIGS. 11( a) and 11(b) are views for explaining the operation of a clamp arm; -
FIG. 12( a) is a view for explaining the posture of the work during left/right determination, andFIG. 12( b) is a view for explaining the posture of the work when a hooking member is stuck; -
FIG. 13 is a side view schematically showing a robot arm; -
FIG. 14 is a side view schematically showing a hooking unit; -
FIG. 15 is a schematic cross-sectional view of the hooking unit; -
FIGS. 16( a) and 16(b) are views for explaining a rotation drive mechanism of the hooking member; -
FIG. 17( a) shows the disposition of the hooking member when the hooking member is stuck into the work, andFIG. 17( b) shows the disposition of the hooking member when the work is detached; -
FIGS. 18( a) and 18(b) are perspective views of the tip side of the hooking member when viewed from different directions; -
FIG. 19 is a view for explaining the disposition of the work and the hooking member when the hooking member is stuck into the work; -
FIG. 20 is a plan view schematically showing a part of the suspension station; -
FIG. 21 is a side view schematically showing a part of the suspension station; -
FIG. 22 is a front view schematically showing a part of the suspension station; -
FIG. 23 is a front view schematically showing a part of the suspension station; -
FIG. 24 is a view schematically showing a part of the suspension station together with the work; -
FIG. 25 is a side view schematically showing the state of the work which is conveyed in the suspension station; -
FIGS. 26( a), 26(b), 26(c), 26(d), 26(e), 26(f), 26(g), 26(h), 26(i), and 26(j) are views for explaining the deboning method executed by the deboning system; -
FIG. 27 is a half cross-sectional view schematically showing a clamp device for conveying the work; -
FIG. 28 is a top view schematically showing the clamp device ofFIG. 27 ; -
FIG. 29 is a cross-sectional view along an XXIX-XXIX line ofFIG. 27 ; -
FIG. 30( a) is a plan view schematically showing a left work W and a clamp immediately after the work is suspended from the clamp, andFIG. 30( b) is a plan view schematically showing a right work W and the clamp immediately after the work is suspended from the clamp; -
FIGS. 31( a), 31(b), and 31(c) are views for explaining the operation of a first clamp rotation device; -
FIG. 32 is a view for explaining the operation of the first clamp rotation device; -
FIG. 33 is a view for explaining the operation of a second clamp rotation device; -
FIG. 34 is a view for explaining the operation of the second clamp rotation device; -
FIG. 35 is a view for explaining the operation of each of third to fifth clamp rotation devices; -
FIG. 36 is a view for explaining the operation of the third clamp rotation device; -
FIG. 37 is a view for explaining the operation of the fourth clamp rotation device; -
FIG. 38 is a view for explaining the operation of the fifth clamp rotation device; -
FIG. 39 is a view for explaining the operation of the fifth clamp rotation device; -
FIG. 40 is a view for explaining the configuration of an X-ray imaging station; -
FIG. 41 is a view for explaining the configuration of the X-ray imaging station; -
FIG. 42( a) is a side view of a filter, andFIG. 42( b) is a front view of the filter; -
FIGS. 43( a) and 43(b) are views for explaining the configuration of a drive mechanism of a shielding box; -
FIG. 44 is a view for explaining the movement of the shielding box; -
FIG. 45 is a view showing target positions A to L in the work of which coordinates are to be determined on the basis of an X-ray image; -
FIG. 46 is a view schematically showing a round blade cutter device which performs a second forearm-bone incision making step; -
FIG. 47 is a perspective view schematically showing a cutter tool of a first incision making station; -
FIG. 48( a) is a plan view of the cutter tool, andFIG. 48( b) is a cross-sectional view of the cutter tool; -
FIGS. 49( a) and 49(b) are front views schematically showing a support device of the first incision making station, in whichFIG. 49( a) shows an operation state andFIG. 49( b) shows a wait state; -
FIG. 50 is a side view schematically showing a part of the support device; -
FIGS. 51( a) and 51(b) are plan views schematically showing a part of the support device; -
FIG. 52 is a front view schematically showing the support device in the operation state together with the work; -
FIG. 53 is a side view schematically showing a shoulder blade removal station; -
FIG. 54 is a front view schematically showing an upper side support member, a lower side support member, a bottom holder, and a guide plate together with the work, and is also a view for explaining the movement of the bottom holder; -
FIG. 55( a) includes a top view and a front view of the bottom holder, andFIG. 55( b) includes a top view, a front view, and a side view of the upper side support member; -
FIG. 56 includes a top view and a front view of the guide plate; -
FIG. 57 is a view for explaining ascent and descent of the bottom holder; -
FIG. 58 is a view for explaining a swing of a wiper; -
FIG. 59( a) is a side view schematically showing a chuck unit, andFIG. 59( b) is a plan view schematically showing a grip member and a lock member of the chuck unit; -
FIG. 60 is a view for explaining a state in which the grip member and the lock member grip the shoulder blade; -
FIG. 61 is a side view schematically showing a third forearm-bone incision making station and a work discharge station; -
FIG. 62 is a plan view showing a lower side support member and a holding member; -
FIG. 63( a) is a plan view schematically showing the upstream side of a transfer separation station, andFIG. 63( b) is a side view schematically showing a guide bar, a guide plate, and a stationary blade of the transfer separation station; -
FIG. 64 is a front view schematically showing the upstream side of the transfer separation station together with the work; -
FIG. 65 is a plan view schematically showing the downstream side of the transfer separation station; -
FIG. 66 is a front view schematically showing the downstream side of the transfer separation station; -
FIG. 67 is a plan view schematically showing the downstream side of the transfer separation station; -
FIG. 68 is a view for explaining separation of the forearm bone from the work in the transfer separation station; -
FIG. 69 is a view for explaining the operation of an orientation adjustment bar; -
FIG. 70( a) is a plan view schematically showing a final separation station, and FIG. 70(b) is a side view schematically showing the final separation station; -
FIGS. 71( a) and 71(b) are front views schematically showing a separation device in the final separation station; -
FIG. 72 is a plan view showing a meat separator together with an air cylinder; -
FIG. 73 is a plan view schematically showing a pressing device of the transfer separation station according to another embodiment of the present invention; -
FIG. 74 is a side view schematically showing the pressing device ofFIG. 73 ; -
FIG. 75 is a front view schematically showing the pressing device ofFIG. 73 together with the work; -
FIG. 76 is a plan view schematically showing the downstream side of the transfer separation station; -
FIGS. 77( a), 77(b), 77(c), 77(d), 77(e), 77(f), 77(g), 77(h), 77(i), 77(j), 77(k), and 77(l) are views for explaining a deboning method executed by a deboning system of another embodiment; -
FIG. 78 is a schematic diagram for explaining an olecranon fossa of an upper arm bone; and -
FIG. 79 is a flowchart schematically showing operation procedures in a transfer separation step. - The present invention will be described in detail by using embodiments shown in the drawings. However, it is to be noted that the scope of the present invention is not limited only to dimensions, materials, shapes, and relative arrangements of components described in the embodiments unless specifically described.
-
FIG. 1 shows the schematic configuration of a deboning system of bone-in meat (hereinafter also referred to as a deboning system) of an embodiment of the present invention. - The deboning system has a pre-processing station ST1, a left/right determination station ST2, a suspension station ST3, an X-ray imaging station ST4, a first incision making station ST5, a second incision making station ST6, a shoulder blade removal station ST7, a forearm-bone incision making station ST8, a work discharge station ST9, a transfer separation station ST10, a final separation station ST11, and a bone discharge station ST12.
- In addition, the deboning system has a plurality of
clamps 10 which convey a work W in a state in which the work W is suspended from theclamp 10, and eachclamp 10 goes around anendless track 11. Specifically, theclamps 10 are coupled to a chain, and the chain is rotated usingsprockets endless track 11. Note that, although not shown in the drawing, a plurality of belt conveyors are disposed along theendless track 11, and meat and bones separated from each other are separately conveyed to the outside of the deboning system. - The suspension station ST3, the X-ray imaging station ST4, the first incision making station ST5, the second incision making station ST6, the shoulder blade removal station ST7, the forearm-bone incision making station ST8, the work discharge station ST9, the transfer separation station ST10, the final separation station ST11, and the bone discharge station ST12 are provided in this order along the
endless track 11. - In addition, in order to rotate the
clamp 10 by a predetermined angle, a firstclamp rotation device 16, a secondclamp rotation device 17, a thirdclamp rotation device 18, a fourthclamp rotation device 19, and a fifthclamp rotation device 20 are provided in this order along theendless track 11. - The first
clamp rotation device 16 is positioned between the suspension station ST3 and the X-ray imaging station ST4, and the secondclamp rotation device 17 is positioned between the shoulder blade removal station ST7 and the forearm-bone incision making station ST8. - The third
clamp rotation device 18 is positioned between the forearm-bone incision making station ST8 and the work discharge station ST9, and the fourthclamp rotation device 19 is positioned between the work discharge station ST9 and the transfer separation station ST10. The fifthclamp rotation device 20 is positioned between the final separation station ST11 and the bone discharge station ST12. - Further, the deboning system has a
control device 21 which controls the entire operation. Thecontrol device 21 is configured by, e.g., a computer including a central processing unit, a memory, an external storage device, an input device, and an output device. Preferably, thecontrol device 21 is connected to all of the stations ST2 to ST12 except the pre-processing station ST, and the first to fifthclamp rotation devices - Furthermore, the deboning system has a round
blade cutter device 22 which is positioned between the X-ray imaging station ST4 and the first incision making station S5, and is provided along the endless track. -
FIG. 2 is a flowchart schematically showing processing procedures of a deboning method of bone-in meat executed by the deboning system. - The deboning method includes a pre-processing step S10, a left/right determination step S12, a suspension step S14, a first forearm-bone incision making step S16, a first clamp rotation step S18, an X-ray imaging step S20, a second forearm-bone incision making step S22, a first incision making step S24, a second incision making step S26, a shoulder blade removal step S27, a second clamp rotation step S28, a third forearm-bone incision making step S30, an error occurrence determination step S32, a third clamp rotation step S34, a work discharge step S36, a fourth clamp rotation step S38, a transfer separation step S40, a final separation step S42, a fifth clamp rotation step S44, and a bone discharge step S46.
- Hereinbelow, the individual steps will be described together with the configurations of devices used in the steps.
- In the pre-processing step S10, pre-processing is manually performed on bone-in meat from an arm part of a pig schematically shown in
FIG. 3 (hereinafter also referred to as a work and is designated by a reference numeral W). In the deboning method ofFIG. 2 , only the pre-processing step S10 is performed manually. - The deboning system is capable of deboning irrespective of whether the arm part is a left arm or a right arm. Note that, although the deboning system is suitable for deboning of the arm part, the deboning system can be applied to a thigh part, and can also be applied to the arm part and the thigh part of a cow or a sheep.
- In the pre-processing step S10, a foot part is cut off along a line L1 in
FIG. 4 . In addition, in the pre-processing step S10, as shown inFIGS. 5( a) and 5(b), ribs (belly) w1 is turned over. Note that the work W ofFIGS. 5( a), 5(b), 5(c), 5(d), 5(e), and 5(f) is a right arm (right work) and includes a forearm bone b1, an upper arm bone b2, and a shoulder blade b3 as bones. - Next, as shown in
FIGS. 5( c) and 5(d), an upper meat w2 of the shoulder blade b1 is torn. As indicated by a line L2 inFIG. 5( e), incision making is performed along the shoulder blade b3, incision making is also performed on a joint between the shoulder blade b3 and the upper arm bone b2 as indicated by a line L3, and the pre-processing step S10 is ended. - Note that, in the pre-processing step S10, as shown in
FIG. 5( f), the ribs w1 may also be cut off. -
FIG. 6 shows the work W after the pre-processing step S10, and the length of the work W deboned by the deboning system is, e.g., 400 mm to 600 mm. -
FIGS. 7 to 12 are views for explaining the configuration of the left/right determination station ST2. Note thatFIGS. 7 to 12 include the configuration of the suspension station ST3 partially. - The left/right determination station ST2 has
belt conveyors 24 arranged in, e.g., two rows. The work W having been subjected to the pre-processing is disposed at the upstream end of each of thebelt conveyors 24 by an operator, and is conveyed to the downstream end. Herein, the operator disposes the work W on thebelt conveyor 24 such that the cut surface separated from the body of the work W is directed upward and the wrist side thereof is directed to the downstream side of thebelt conveyor 24. - At the downstream end of the
belt conveyor 24, a pair of movement regulation bars 25 a and 25 b are provided as a mechanism for regulating the movement of the work W. The movement regulation bars 25 a and 25 b can be opened and closed by an air cylinder which is not shown, and are closed during the execution of the left/right determination step S12. - The movement regulation bars 25 a and 25 b when they are closed form a substantially V-shape when viewed in two dimensions, and the interval between the movement regulation bars 25 a and 25 b is narrowed in a downstream direction in the direction of conveyance of the
belt conveyor 24. At the top part of the V-shape, the movement regulation bars 25 a and 25 b are spaced apart from each other to form a gap. The movement of the work W is regulated in a state in which the tip part of the wrist side enters into the gap. - In addition, the left/right determination station ST has a left/right determination mechanism which determines whether the work W is a right arm (right work) or a left arm (left work) on the basis of the posture of the work W of which the movement is regulated. Specifically, the left/right determination mechanism is configured by a pair of
photoelectric sensors reflection plate 28. - The
photoelectric sensors belt conveyor 24 above thebelt conveyor 24. Thephotoelectric sensors reflection plate 28 when each of thephotoelectric sensors reflection plate 28. However, when the optical path is blocked by the tip part of the work W depending on the posture of the work W, one of thephotoelectric sensors control device 21 can determine the left or the right of the work W on the basis of the light reception state of the reflected light by thephotoelectric sensors - The
reflection plate 28 is provided on amovable stage 29. Themovable stage 29 can be brought close to or moved away from the downstream end of each of thebelt conveyors 24 in the direction of conveyance of thebelt conveyor 24 by anair cylinder 30. - Clamp
arms movable stage 29. Theclamp arms belt conveyor 24. - Specifically, two
rails 33 are provided on themovable stage 29 so as to be apart from each other, andsliders 34 are mounted on therails 33. Theslider 34 is slidable in the longitudinal direction of therail 33, and theclamp arms sliders 34. Thesliders 34 are coupled to anair cylinder 35 via a link mechanism. Consequently, by controlling theair cylinder 35, it is possible to bring theclamp arms - Contact
plate parts clamp arms contact plate parts - In addition, a
work holding member 37 is provided above thebelt conveyor 24. Thework holding member 37 can be brought close to or moved away from the work W of which the movement is regulated by alinear actuator 38. Thework holding member 37 diagonally pushes the work W against thebelt conveyor 24, and thereby pushes the work W toward the movement regulation bars 25 a and 25 b. Theclamp arms work holding member 37. -
FIGS. 13 to 25 show the configuration of the suspension station ST3. The suspension station ST is a conveyance device which conveys the work W from the left/right determination station ST2 to theclamp 10 while involving posture change from a horizontally placed state to a suspended state. During the conveyance, the suspension station ST3 performs incision making on the forearm bone b1. - For the incision making, the suspension station ST3 has a
robot arm 40 which can execute a predetermined operation. Therobot arm 40 is, e.g., a 6-axis multi-joint robot, and a hookingunit 42 is attached to the tip of therobot arm 40 as an attachment. - Note that the first incision making station ST5, the second incision making station ST6, the shoulder blade removal station ST7, and the forearm-bone incision making station ST8 also have the
robot arms 40 though the attachments are different. - The hooking
unit 42 has two hookingmembers robot arm 40 sticks the hookingmembers clamp arms work holding member 37. That is, the movement regulation bars 25 a and 25 b, theclamp arms work holding member 37 constitute part of the suspension station ST3. - More specifically, the hooking
members main body parts like points main body parts barbs main body parts points - In addition, the hooking
unit 42 has a support mechanism for the hookingmembers members members main body parts - Further, the hooking
unit 42 has a rotation drive mechanism which rotates the hookingmembers main body parts barbs - Specifically, the hooking
unit 42 has amain frame 49, and twomovable stages main frame 49 via, e.g., a linear guide so as to be able to be brought close to or moved away from each other.Brackets main frame 49 so as to pinch themovable stages brackets movable stages movable stages movable stages - Mount blocks 53 a and 53 b are fixed to the
movable stages support rotary members arms rotary members drive arms coupling plate 56 using pins. Thecoupling plate 56 is coupled to anair cylinder 57 fixed to themain frame 49. - On the other hand, to second ends of the
rotary members members spacers - In the hooking
unit 42, when theair cylinder 57 is extended or retracted, thedrive arms members rotary members air cylinder 57 constitutes an actuator for rotating the hookingmembers drive arms coupling plate 56 constitute a link which couples the actuator and therotary members - In addition, the hooking
unit 42 further has a swing regulation mechanism which regulates the swing of the work W during the movement of the work W. Specifically, the hookingunit 42 has a swing prevention plate 59 having an L-shaped cross section which is coupled to themain frame 49. - The
robot arm 40 sticks thepoints members members main body parts barbs - In addition, the
robot arm 40 sticks thepoints members main body parts barbs main body parts - Subsequently, the
robot arm 40 moves the work W into which the hookingmembers - In the vicinity of the entrance of the guide rails 60, two
push rods 61 for transferring the work W from the hookingunit 42 to the guide rails 60 are disposed. Thepush rods 61 extend in a horizontal direction orthogonal to the groove of the guide rails 60. Thepush rods 61 can be moved in a longitudinal direction thereof by anair cylinder 62, and can be moved in a direction parallel with the groove of the guide rails 60 by a drive mechanism which is not shown. - Note that, when the work W is detached from the hooking
members push rods 61, the rotation drive mechanism rotates the hookingmembers robot arm 40 disposes the hookingunit 42 such that the first sides of the main body parts 45, i.e., thebarbs - The guide rails 60 are coupled to guide
plates guide plates W. Synchronization plates guide plates synchronization plates - The
synchronization plates endless track 11 in synchronization with theclamp 10 which goes around theendless track 11 by a drive mechanism which is not shown. An air cylinder 66 is fixed to theguide plate 63 b, and the air cylinder 66 pushes the work W suspended from thesynchronization plates clamp 10 via apusher 68. - The suspension station ST3 has a
fork 70 for carrying the work W from the entrance of the guide rails 60 to thesynchronization plates fork 70 can be inserted into the groove and can be moved along the groove by a drive mechanism which is not shown. One work W is conveyed by a first nail of thefork 70, and then conveyed by a second nail thereof. - Further, triangular upstream side
stationary blades 72 which protrude upward from both sides of the groove are fixed to the guide rails 60, and triangular downstream sidestationary blades 74 which protrude downward from both sides of the groove are fixed to theguide plates - Consequently, while the work W is conveyed along the groove, incision making is performed on the tip part of the work W, i.e., meat around the forearm bone by the upstream side
stationary blades 72 and the downstream sidestationary blades 74. At this point, in each of the upstream sidestationary blades 72, the height of the cutting edge is gradually increased in the conveyance direction, and the incision making is performed by using the weight of the work W. The downstream sidestationary blades 74 perform the incision making such that incisions are continuous with incisions made by the upstream sidestationary blades 72. - That is, the upstream side
stationary blade 72 and the downstream sidestationary blade 74 execute the first forearm-bone incision making step S16. As the result of the first forearm-bone incision making step S16, as shown inFIG. 26( a), the wrist side of the forearm bone b1 is exposed, and the exposed wrist side of the forearm bone is held by theclamp 10. -
FIGS. 27 to 29 show the schematic configuration of aclamp device 76 including theclamp 10, andFIG. 30 schematically shows the work W suspended from theclamp 10. In addition,FIGS. 31 to 39 schematically show the first to fifthclamp rotation devices - The
clamp device 76 has ashaft 83 which extends from theclamp 10 in a vertical direction, and theshaft 83 extends through a boss of acarriage part 84 so as to be relatively rotatable. Thecarriage part 84 is coupled to achain 85 which extends along theendless track 11, and runs on a rail extending along theendless track 11 with the rotation of thechain 85. - A
first disk 86 is fixed to the upper end of theshaft 83, and fourrollers 87 are attached to thefirst disk 86 as cam followers at intervals of 90°. In addition, asecond disk 88 is attached to theshaft 83 below thefirst disk 86. The outer peripheral part of thesecond disk 88 is formed with semicircular notchedparts 89 at predetermined positions. - On the other hand, a
rotatable lever 90 is attached to thecarriage part 84 in the vicinity of thesecond disk 88. Anengagement pin 91 is attached to thelever 90, and the rotation of theshaft 83 is regulated when theengagement pin 91 is fitted in the notchedpart 89. - One end of the
lever 90 is pulled by ahelical tension spring 92, and the engagement between theengagement pin 91 and the notchedpart 89 is maintained by the tension. In addition, aroller 93 as the cam follower for releasing the engagement between theengagement pin 91 and the notchedpart 89 is attached to the other end of thelever 90. -
FIG. 30 schematically shows the state of the work W immediately after the work W is suspended from theclamp 10. Immediately after the suspension, the work W is disposed such that the cut surface separated from the body is along theendless track 11 irrespective of the left or the right of the work W. - The notched
part 89 is provided such that, when the rotation angle of theclamp 10 immediately after the suspension is 0°, the rotation angle of theclamp 10 can be fixed to any of 0°, +35°, −35°, +145°, and +180°. Note that + denotes rotation to the right side relative to the running direction of theclamp 10, while − denotes rotation to the left side. - The first to fifth
clamp rotation devices engagement pin 91 and the notchedpart 89. While theroller 93 is in contact with one of the cam surfaces 95, 96, 97, 98, and 99, thelever 90 is rotated against the tension of thehelical tension spring 92, and the engagement between theengagement pin 91 and the notchedpart 89 is released. - The first
clamp rotation device 16 has cam surfaces 100 a and 100 b for rotating theshaft 83 while the engagement is released. Thecam surface 100 a comes in contact with theroller 87 to thereby rotate theshaft 83 to the left side by 35°, and thecam surface 100 b comes in contact with theroller 87 to thereby rotate theshaft 83 to the right side by 35°. - Note that the cam surfaces 100 a and 100 b are coupled to
air cylinders control device 21 can cause each of the cam surfaces 100 a and 100 b to run between an operation position and a wait position by controlling theair cylinders - That is, in accordance with the determination result of the left/right determination step S12, it is possible to rotate the shaft to the right side when the work W is the right arm, and rotate the shaft to the left side when the work W is the left arm.
- The second
clamp rotation device 17 has cam surfaces 103 a, 103 b, 104 a, and 104 b for rotating theshaft 83 twice while the engagement is released. The cam surfaces 103 a and 104 a and the cam surfaces 103 b and 104 b come in contact with theroller 87 sequentially to thereby set the rotation angle of theshaft 83 to 180°. - Note that the cam surfaces 103 a, 103 b, 104 a, and 104 b are also coupled to
air cylinders 105 a and 105 b via the link mechanisms, and thecontrol device 21 can cause each of the cam surfaces 103 a, 103 b, 104 a, and 104 b to run between the operation position and the wait position by controlling theair cylinders 105 a and 105 b. - The third
clamp rotation device 18 has cam surfaces 107 and 108 for rotating theshaft 83 by 180° only in the case where it is determined that any error has occurred in the error occurrence determination step S32. That is, the cam surfaces 107 and 108 can set the rotation angle of theshaft 83 to 0°. The cam surfaces 107 and 108 are also coupled to anair cylinder 109 via the link mechanism, and thecontrol device 21 can cause each of the cam surfaces 107 and 108 to run between the operation position and the wait position by controlling theair cylinder 109. - The fourth
clamp rotation device 18 has cam surfaces 110 a, 111 a, 112 a, and 110 b for rotating theshaft 83 in the case where the error does not occur. The cam surfaces 110 a, 111 a, 112 a, and 110 b are also coupled toair cylinders control device 21 can cause each of the cam surfaces 110 a, 111 a, 112 a, and 110 b to run between the operation position and the wait position by controlling theair cylinders control device 21 sets the rotation angle of theshaft 83 to −35° when the work W is the left arm and sets the rotation angle of theshaft 83 to +35° when the work W is the right arm by rotating theshaft 83 by using the cam surfaces 110 a, 111 a, 112 a, and 110 b. - The fifth
clamp rotation device 20 has cam surfaces 115 a, 116 a, and 115 b for rotating theshaft 83 in the case where the error does not occur. The cam surfaces 115 a, 116 a, and 115 b are also coupled toair cylinders control device 21 can cause each of the cam surfaces 115 a, 116 a, and 115 b to run between the operation position and the wait position by controlling theair cylinders control device 21 sets the rotation angle of theshaft 83 to 0° by rotating theshaft 83 by using the cam surfaces 115 a, 116 a, and 115 b. - Note that the cam surfaces 97, 98, and 99 each for releasing the engagement between the
engagement pin 91 and the notchedpart 89 are also coupled to air cylinders 118, 119, and 120 via the link mechanisms, and thecontrol device 21 controls the air cylinders 118, 119, and 120 on an as needed basis to release the engagement. -
FIGS. 40 to 45 schematically show the configuration of the X-ray imaging station ST4. The X-ray imaging station ST4 has anX-ray irradiation device 122, and theX-ray irradiation device 122 has anX-ray source 123. In addition, the X-ray imaging station ST4 has ashielding box 124 which accommodates the work W as an imaging target of an X-ray image, and aline sensor 125 as an X-ray detector is disposed in theshielding box 124. That is, the X-ray imaging station ST4 is an X-ray image capturing device of bone-in meat. - The
X-ray source 123 and theline sensor 125 are spaced apart from each other in a horizontal direction orthogonal to theendless track 11. Consequently, an X-ray is applied to the suspended work W at an incident angle θ of about 35° relative to the cut surface separated from the body of the work W. - Note that the rotation angle of the work W, i.e., the rotation angle of the
clamp 10 is most preferably 35° to the left side in the case of the left arm and 35° to the right side in the case of the right arm, but the rotation angle thereof may appropriately be more than 30° and less than 45°. - In addition, the
X-ray irradiation device 122 further has anX-ray filter 126 placed in the vicinity of theX-ray source 123. TheX-ray filter 126 absorbs part of the X-ray, and gives an appropriate intensity distribution to the X-ray applied to the work W. - Specifically, the
X-ray filter 126 has a concave lens shape in which the center is depressed. The position of the thinnest part of theX-ray filter 126 is set to correspond to the position of theX-ray source 123 and the position of the thickest part of the work W in the vertical direction. - Note that the
shielding box 124 can be brought close to or moved away from theendless track 11 by amotor 128 in the horizontal direction orthogonal to theendless track 11, and theshielding box 124 can be moved by amotor 129 in a direction along theendless track 11. Thecontrol device 21 can dispose the work W in theshielding box 124 without stopping the conveyance of the work W by controlling themotors - When the X-ray image of the work W is picked up in the X-ray imaging station ST4, the
control device 21 analyzes the X-ray image and, as shown inFIGS. 45 and 26( b), determines coordinates of a plurality of target positions A to L required for incision making. Note that the forearm bone b1 is formed of a radius b11 and a ulna b12. -
FIG. 46 schematically shows the configuration of the roundblade cutter device 22. The roundblade cutter device 22 is coupled to anair cylinder 130, and can elastically come in contact with the work W. The roundblade cutter device 22 performs incision making on the back side of the forearm bone b1 as the second forearm-bone incision making step S22. -
FIGS. 47 to 52 schematically show the configuration of the first incision making station ST5. Note that the configuration of the second incision making station ST6 is the same as the configuration of the first incision making station ST5, and hence the description thereof will be omitted. - The first incision making station ST5 has a
cutter tool 132 as an attachment attached to therobot arm 40. Acutter 133 of thecutter tool 132 is swingably supported by aswing shaft 134. Theswing shaft 134 is positioned in front of thecutter 133 in the direction of cutting of thecutter 133. - The
swing shaft 134 is slidable in a direction orthogonal to itself, andcompression coil springs 135 which bias theswing shaft 134 toward a neutral position are provided on both sides of theswing shaft 134. Consequently, thecutter 133 is swingable and elastically slidable in a direction intersecting the cutting direction. - In addition, the first incision making station ST5 has a
support device 136 which elastically supports the work W. Thesupport device 136 can be moved by amotor 137 along theendless track 11, and can be advanced or retracted by anair cylinder 138 in the horizontal direction orthogonal to theendless track 11. Consequently, thesupport device 136 can be moved in synchronization with the work W which is being conveyed, and therobot arm 40 can perform incision making on the work W which is being conveyed by using thecutter tool 132. - More specifically, the
support device 136 has acenter plate 140, and thecenter plate 140 is elastically supported by anair cylinder 141. Consequently, a difference in the size of the work W is absorbed by the pressure of air, and the work W is properly supported irrespective of the size of the work W. - In addition, the
center plate 140 elastically supports the back surface of the work W in a direction orthogonal to theendless track 11 while therobot arm 40 performs incision making on the basis of the target positions A to L. The course of thecutter 133 is precisely determined on the basis of the target positions A to L, but the target positions A to L include errors in the direction orthogonal to the endless track 11 (depth direction). Thecenter plate 140 elastically supports the work W in the depth direction, and thecutter 133 is thereby prevented from being stuck into a bone even when the cutter excessively advances. - In addition, the
support device 136 has a pair ofside plates 142 disposed on both sides of thecenter plate 140. A pair ofswing arms 143 which pinch and support the lower side of the work W are attached to theside plates 142. Theswing arms 143 pinch the work W, and the swing of the work W in the direction of conveyance of the work W is thereby prevented while therobot arm 40 performs incision making. - Particularly, the shoulder blade b3 is present in the lower side of the work W, and hence the
swing arms 143 pinch the part around the shoulder blade b3 of the work W, and the swing of the work W is thereby prevented reliably. At this point, the positions of theswing arms 143 in the direction along theendless track 11 can be set to appropriate positions according to the left or the right of the work W. - Further, the
swing arm 143 has a substantially L-shaped cross section, and can hold therobot arm 40 side of the work W. Consequently, theswing arms 143 also prevent the swing of the work W in a direction intersecting theendless track 11 in cooperation with thecenter plate 140. - Note that the
swing arms 143 are coupled to anair cylinder 145 via the link mechanisms, and it is possible to cause each of theswing arms 143 to run between the operation position and the wait position by controlling theair cylinder 145. - Thus, with the execution of the first incision making step S24 by the first incision making station ST5, incision making is performed as indicated by a line L3 in
FIG. 26( c). - In addition, with the execution of the second incision making step S26 by the second incision making station ST6, incision making is performed as indicated by a line L4 in
FIG. 26( d). -
FIGS. 53 to 60 show the schematic configuration of the shoulder blade removal station ST7. The shoulder blade removal station ST7 is a shoulder blade removal device of bone-in meat. - The shoulder blade removal station ST7 has a stage 150 which is movable along the
endless track 11, and the stage 150 is driven by anendless belt 152 fixed to the stage 150 and amotor 154 which rotates theendless belt 152. Thecontrol device 21 controls themotor 154 to move the stage 150 in synchronization with theclamp 10. - An
air cylinder 156 is fixed onto the stage 150, and an upperside support member 158 is fixed to the tip of theair cylinder 156. The upperside support member 158 comes in contact with the part of the work W immediately above the shoulder blade b3 in the horizontal direction orthogonal to theendless track 11, and elastically supports the work W. In addition, on the stage 150, a lowerside support member 160 is provided below the upperside support member 158. The lowerside support member 160 comes in contact with the part of the work W in the vicinity of the upper end of the shoulder blade b3 in the horizontal direction orthogonal to theendless track 11, and elastically supports the work W. - Further, on the stage 150, there is provided a horizontally
movable stage 162 which is movable in the horizontal direction orthogonal to theendless track 11, and the horizontallymovable stage 162 can be moved by anair cylinder 164. On the horizontallymovable stage 162, there is provided alift stage 166 which is movable in a vertical direction, and thelift stage 166 is coupled to anair cylinder 168 via the link mechanism. Consequently, it is possible to move thelift stage 166 vertically by controlling theair cylinder 168. - On the
lift stage 166, there is provided abottom holder 170 which is movable in the horizontal direction parallel with theendless track 11. Thebottom holder 170 is coupled to anair cylinder 172, and it is possible to move thebottom holder 170 by controlling theair cylinder 172. Thecontrol device 21 controls theair cylinder 172 according to the left or the right of the work W to dispose thebottom holder 170 at the optimum position according to the left or the right of the work W. - The
bottom holder 170 is formed of a V-shapedbottom plate 174 and alateral plate 176 attached to aside edge 174 of thebottom plate 174 on the side of therobot arm 40. Thebottom holder 170 is lifted upward from below the work W so as to accommodate the lower side of the work W, and is moved toward the upperside support member 158 after having accommodated the lower side of the work W. At this point, the lower side of the work W is pushed by thelateral plate 176. With this, the work W is bent in the vicinity of the upper end of the shoulder blade 3 b, and the upper end of the shoulder blade b3 protrudes toward therobot arm 40. - Note that the upper
side support member 158 has a recessed portion at a central part in a direction following theendless track 11 so that the central part of the upperside support member 158 is depressed away from theendless track 11, and the lower half of the upperside support member 158 is tilted away from theendless track 11 in a downward direction. The tilt of the lower half assists bending of the work W in the vicinity of the upper end of the shoulder blade 3 b. - In addition, the shoulder blade removal station ST7 has a
bracket 178 which is movable in the horizontal direction along theendless track 11, and anendless belt 180 is fixed to thebracket 178. Theendless belt 180 is rotated by amotor 182, and thebracket 178 can be moved along theendless track 11 with the rotation of theendless belt 180. Thecontrol device 21 moves thebracket 178 in synchronization with theclamp 10 by controlling themotor 182. - A
guide plate 184 is attached to thebracket 178, and theguide plate 184 comes in contact with the work W from a side opposite to the upperside support member 158 in the direction parallel with theendless track 11. - In addition, a
wiper 186 is swingably attached to thebracket 178. Thewiper 186 is coupled to anair cylinder 188 via the link mechanism, and it is possible to swing thewiper 186 by controlling theair cylinder 188. Thecontrol device 21 swings thewiper 186 first to sweep away the ribs w1 from above the shoulder blade b3 in the shoulder blade removal step S27. - On the other hand, the shoulder blade removal station ST7 has a
chuck unit 190 as an attachment of therobot arm 40. Thechuck unit 190 has abase member 192 attached to therobot arm 40, and agrip member 194 is attached to the tip of thebase member 192. Thegrip member 194 is formed of twolongitudinal plate parts 196 fixed to thebase member 192 and alateral plate part 198 continuous with the tips of thelongitudinal plate parts 196, and has a U-shaped planar shape. One side edge on the tip side of thelongitudinal plate part 196 and one side edge of thelateral plate part 198 are formed as blades. - In addition, the
chuck unit 190 has an air cylinder 200 fixed to thebase member 192, and alock member 202 is attached to the tip of theair cylinder 180. Thelock member 202 can be advanced or retracted toward or away from thelateral plate part 198, and thecontrol device 21 causes thelateral plate part 198 and and thelock member 202 to grip the shoulder blade b3 therebetween by controlling the air cylinder 200. Note that a plurality of slits are formed in the tip of thelock member 202 to prevent sliding. - According to the
chuck unit 190, the blades are formed in thegrip member 194, and hence it is possible to reliably grip the shoulder blade b3 and remove the shoulder blade b3 as shown inFIG. 26( e). -
FIGS. 61 and 62 schematically show the forearm-bone incision making station ST8 and the work discharge station ST9. - The forearm-bone incision making station ST8 has a
frame 204 which is movable in a horizontal direction along theendless track 11, and theframe 204 is fixed to anendless belt 205. Theendless belt 205 is rotated by amotor 206, and theframe 204 is moved with the rotation of theendless belt 205. Thecontrol device 21 moves theframe 204 in synchronization with the movement of theclamp 10 by controlling themotor 206. - An
air cylinder 207 is fixed to theframe 204. A bracket is fixed to the tip of theair cylinder 207, and a lowerside support member 208 is fixed to the bracket. In addition, anair cylinder 210 is fixed to the bracket, and an upperside support member 212 is fixed to the tip of theair cylinder 210. The direction of extension and contraction of each of theair cylinders endless track 11. - In addition, an
air cylinder 214 is tiltably attached to theframe 204, and theair cylinder 214 is coupled to a holdingmember 216 via the link mechanism. The holdingmember 216 can be moved by theair cylinder 214 in a substantially horizontal direction orthogonal to theendless track 11. The lowerside support member 208 and the holdingmember 216 pinch and support the work W in cooperation with each other in the horizontal direction orthogonal to theendless track 11. - On the other hand, the forearm-bone incision making station ST8 has the
cutter tool 132 as the attachment of therobot arm 40 similarly to the first incision making station ST5 and the second incision making station ST6. - The
robot arm 40 of the forearm-bone incision making station ST8 performs incision making on the work W by using thecutter tool 132 as the third forearm-bone incision making step S30. That is, as indicated by a line L5 inFIG. 26( f), therobot arm 40 performs incision making on the part around the forearm bone b1 of the work W. At this point, the forearm bone b1 is elastically supported by the upperside support member 212. - Information related to an operation is inputted to the
control device 21 from various sensors. Thecontrol device 21 determines the occurrence of the error in the deboning system on the basis of the inputted information. - When the
control device 21 determines that the error has occurred, thecontrol device 21 discharges the work W from the deboning system. In order to discharge the work W, the work discharge station ST9 has anair cylinder 220 fixed to theframe 204 and aprotrusion member 222 attached to the tip of theair cylinder 220. When thecontrol device 21 determines that the error has occurred, thecontrol device 21 moves theair cylinder 220 in synchronization with theclamp 10, and protrudes theprotrusion member 222 toward theclamp 10. With this, the tip part of the work W is pushed out of theclamp 10 by theprotrusion member 222, and the work W is detached from theclamp 10. -
FIGS. 63 to 69 schematically show the configuration of the transfer separation station ST10. The transfer separation station ST10 has guide bars 230 a and 230 b which extend along theendless track 11 and pinch the forearm bone b1 of the workW. Guide plates guide plates - The positions of the
guide plates guide plates endless track 11. Accordingly, as the work W advances in the downstream direction, meat around the forearm bone b1 is pushed downward by theguide plates - Note that the
guide bar 230 b and theguide plate 232 b are coupled to anair cylinder 234, and the force of the guide bars 230 a and 230 b and theguide plates air cylinder 234. - The transfer separation station ST10 has
stationary blades guide plates stationary blades - In addition, the transfer separation station ST10 has
lift plates guide plates blade cutter devices lift plates blade cutter devices blade cutter devices control device 21 causes the roundblade cutter devices - Note that the round
blade cutter devices air cylinders - After the muscle is cut by the round
blade cutter devices control device 21 controls a drive mechanism which is not shown, and thelift plates stationary blades blade cutter devices clamp 10 is unchanged, as shown inFIG. 26( g), the forearm bone b1 and the upper arm bone b2 are separated from each other. After the separation, only the forearm bone b1 is suspended from theclamp 10. At this point, the forearm bone b1 is actually removed from the work W, and the work W is formed of the upper arm bone b2 suspended from thelift plates - Note that the
lift plate 238 b, thestationary blade 236 b, and the roundblade cutter device 240 b are coupled to anair cylinder 244, and the force of thelift plates air cylinder 244. - In addition, the transfer separation station ST10 has a
stopper 246 which prevents the upper arm bone b2 from returning to the upstream side when thelift plates closing door 248 which prevents the upper arm bone b2 from advancing to the downstream side when thelift plates - On the other hand, the transfer separation station ST10 has an
orientation adjustment bar 250 which forcibly aligns the orientation of the work W when thelift plates orientation adjustment bar 250 is coupled to anair cylinder 252, and thecontrol device 21 controls theair cylinder 252 to thereby swing theorientation adjustment bar 250. - In addition, the transfer separation station ST10 has a
rotary arm 254 which sends the work W to the final separation station ST11 after thelift plates closing door 248 and therotary arm 254 are coupled to anair cylinder 256 via the link mechanism. Thecontrol device 21 controls theair cylinder 256, whereby the opening/closing door 248 opens and, at the same time, therotary arm 254 rotates, and the work W is sent to the final separation station ST11. - ST11.
- The final separation station ST11 has
conveyance plates conveyance plates lift plates lift plates conveyance plates rotary arm 254. - The final separation step S42 includes a meat separation step of tearing meat adhering to the upper arm bone b2 and a cutting step of cutting of meat adhering to the upper arm bone b2 after the meat separation step.
- A separation device for performing the meat separation step is formed of
bone holding members meat holding members meat separators bone holding member 262 a, themeat holding members separator 266 a are used when the work W is the left arm, while thebone holding member 262 b, themeat holding members separator 266 b are used when the work W is the right arm. - The
bone holding members air cylinders control device 21 can cause each of thebone holding members air cylinders meat holding members air cylinders control device 21 can cause each of themeat holding members air cylinders bone holding members meat holding members conveyance plates - Further, the
meat separators air cylinders control device 21 can cause each of themeat separators conveyance plates air cylinders - In addition, the
meat separators meat separators parts bone holding members meat holding members parts bone holding members meat holding members bone holding members meat holding members air cylinders - The
control device 21 moves themeat separators bone holding members meat holding members parts FIG. 26( h) shows the work W from which the meat is torn by the meat separation step. - Note that each of the edges of the notched
parts parts meat separators - A cutting device for performing the cutting step is formed of two round
blade cutter devices control device 21 determines the length of the upper arm bone 2 b from the X-ray image, and controls an actuator which is not shown according to the determined length of the upper arm bone 2 b to adjust the heights of the roundblade cutter devices - In addition, the round
blade cutter devices air cylinders blade cutter devices - As shown in
FIG. 26( i), when the meat is separated by the cutting step, the meat is sent out of the deboning system by a belt conveyor which is not shown. On the other hand, as shown inFIG. 26( j), the upper arm bone b2 from which the meat is separated is detached from theconveyance plates - Herein, the conveyance mechanism of the work W in the
conveyance plates conveyance plates rod 284 coupled to an air cylinder first. - On the groove between the
conveyance plates - To the lower surface of each of the first slide member 286 and the second slide member 288, a contact plate 290 is coupled using a hinge. The contact plate 290 is hung from each of the first slide member 286 and the second slide member 288, and is configured to be tiltable only in one direction from this state. Specifically, the contact plate 290 is configured to be tiltable only when the contact plate 290 moves in the upstream direction, and does not push the work W when the contact plate 290 moves in the upstream direction. On the other hand, the tilt of the contact plate 290 is prevented when the contact plate 290 moves in the downstream direction, and the contact plate 290 can push the work W when the contact plate 290 moves in the downstream direction.
- Thus, the work W is conveyed to the cutting device by the contact plate 290 and, thereafter, the upper arm bone 2 b is conveyed by the contact plate 290. The groove between the
conveyance plates FIG. 26( j), the upper arm bone 2 b is detached from the groove on the downstream side and discharged from the deboning system. - On the other hand, the forearm bone b1 having been removed from the work W in the transfer separation step S40 is directly conveyed to the bone discharge station ST12 by the
clamp 10. Subsequently, the forearm bone b1 is detached from theclamp 10 in the bone discharge station ST12, and is discharged from the deboning system. - Although not shown in the drawing, the bone discharge station ST12 has the same configuration as that of the work discharge station ST9. That is, the bone discharge station ST12 has an air cylinder movable in synchronization with the
clamp 10 and a protrusion member attached to the tip of the air cylinder. - According to the above configuration of the embodiment described above, when the hooking
members barbs members robot arm 40 can move the work W into which the hookingmembers members barbs - In the configuration, when the
points members main body parts barbs main body parts points members barbs barbs members barbs points members - In the configuration, the rotation drive mechanism rotates the hooking
members main body parts barbs barbs members - In the configuration, since the swing of the work W is regulated by the swing regulation mechanism, the detachment of the work W from the hooking
members - In the configuration, while the work W is moved along the groove of the guide rails 60, the incision making of the forearm bone b1 is performed using the upstream side
stationary blade 72 and the downstream sidestationary blade 74. Consequently, it is possible to reduce manual pre-processing to increase the automation rate. - Particularly, the downstream side
stationary blade 74 performs incision making on the elbow side of the forearm bone b1 after the upstream sidestationary blade 72 performs incision making on the wrist side of the forearm bone b1, whereby meat is neatly torn from the forearm bone b1. - According to the above configuration, only by placing the work W having been subjected to the manual pre-processing at the upstream end of the
belt conveyor 24, it is possible to automatically convey the work W to theclamp 10. Accordingly, it is possible to enhance the processing ability of the deboning system, and achieve the processing ability of, e.g., 600 pieces/hour. - According to the above configuration, by determining the left or the right on the basis of the posture of the work W on the
belt conveyor 24, it is possible to reliably determine the left or the right with a simple configuration. - In addition, according to the above configuration of the embodiment described above, since the intensity distribution of the X-ray applied to the work W is adjusted using the filter, the clear X-ray image is obtained. Consequently, in the case where incision making is executed on the basis of the X-ray image, it is possible to cause the course of the incision making to precisely match the outline of the bone so that yields are improved, and application of an excessive load to the
cutter 133 is prevented. - According to the above configuration, by rotating the work W about the vertical axis in the rotation direction corresponding to the right or the left of the work W, the X-ray image suitable for the determination of the course of incision making is obtained. Consequently, in the case where incision making is executed on the basis of the X-ray image, yields are further improved and the application of the excessive load to the
cutter 133 is further prevented. - According to the above configuration, by rotating the
clamp 10 such that the incident angle of the X-ray relative to the cut surface separated from the trunk of the work W is more than 30° and less than 45°, the X-ray image suitable for the determination of the course of incision making is reliably obtained. - According to the above configuration, it is possible to capture the X-ray image while moving the
clamp 10. Consequently, it is possible to capture the X-ray image without lowering the processing ability of the deboning system. - Further, according to the above configuration of the embodiment described above, it is possible to remove the shoulder blade b3 from the suspended work W.
- According to the above configuration, the
motor 154 constitutes the movement mechanism which moves thebottom holder 170 and the upperside support member 158 in synchronization with the movement of theclamp 10, and it is possible to remove the shoulder blade b3 from the work W which is conveyed with the movement of theclamp 10. Consequently, in the deboning system of the bone-in meat to which the shoulder blade removal device of the bone-in meat is applied, it is possible to remove the shoulder blade b3 without lowering the processing ability. - In the configuration, the
air cylinder 172 constitutes the left/right position adjustment mechanism which adjusts the position of thebottom holder 170 in the direction of movement of theclamp 10 according to the left or the right of the work W. According to the above configuration, the work W is properly bent according to the left or the right of the work W, and the end part of the shoulder blade b3 is exposed. As a result, thechuck unit 190 can reliably chuck and remove the shoulder blade b3. - In the configuration, the
bottom holder 170 has thebottom plate 174 bent in the V-shape and theside plate 176 attached to one side edge of thebottom plate 174 along theendless track 11. According to the above configuration, the work W is properly bent and the end part of the shoulder blade b3 is exposed with a simple configuration. As a result, thechuck unit 190 can reliably chuck and remove the shoulder blade b3. - According to the above configuration, the
wiper 186 sweeps away the ribs w1, and the end part of the shoulder blade b3 is thereby exposed. As a result, thechuck unit 190 can reliably chuck and remove the shoulder blade b3. - According to the above configuration, the
grip member 194 is provided with the blade, and thegrip member 194 can perform incision making on the part around the end part of the shoulder blade b3. As a result, thechuck unit 190 can reliably chuck and remove the shoulder blade b3. - The present invention is not limited to the embodiment described above, and includes an embodiment obtained by modifying the above-described embodiment.
- For example,
FIGS. 73 to 76 schematically show another configuration of the transfer separation station ST10 for performing the transfer separation step S40. The transfer separation station ST10 has apressing device 300 and an olecranonincision making device 400 which are disposed along theendless track 11. - The
pressing device 300 has a pair of pressingmembers endless track 11. Thepressing members clamp 10, can reciprocate from side to side along a left and right direction orthogonal to the direction of movement of theclamp 10, and can reciprocate vertically along an up and down direction orthogonal to the direction of movement of theclamp 10. - Specifically, the
pressing device 300 has a pair ofpressing units endless track 11. Each of thepressing units column 303, and astraight guide 304 which extends along the up and down direction is fixed to thecolumn 303. Aslider 306 is attached to thestraight guide 304 so as to be slidable along the up and down direction, and amovable wall 308 is fixed to theslider 306. Consequently, the movement of themovable wall 308 in the up and down direction is guided by theslider 306 and thestraight guide 304. - On the other hand, a
cylinder part 314 of anair cylinder 312 is fixed to thecolumn 303 via abracket 310. The tip of arod part 316 of theair cylinder 312 is coupled to themovable wall 308. Consequently, thecontrol device 21 can vertically move themovable wall 308 by controlling theair cylinder 312 as the actuator. - A
bracket 318 is fixed to themovable wall 308, and astraight guide 320 which extends along the left and right direction is attached to thebracket 318. Aslider 322 is attached to thestraight guide 320 so as to be slidable along the left and right direction. - A
movable stage 324 is fixed to theslider 322, and the movement of themovable stage 324 in the left and right direction is guided by theslider 322 and thestraight guide 320. - On the other hand, a
cylinder part 328 of anair cylinder 326 is fixed to thebracket 318. The tip of arod part 330 of theair cylinder 326 is coupled to themovable stage 324. Consequently, thecontrol device 21 can move themovable stage 324 from side to side by controlling theair cylinder 326 as the actuator. - A
straight guide 332 which extends along theendless track 11, i.e., along the direction of movement of theclamp 10 is attached to themovable stage 324. Aslider 334 is attached to thestraight guide 332 so as to be slidable along the direction of movement of theclamp 10. - A
movable stage 336 is fixed to theslider 334, and the movement of themovable stage 336 in the direction of movement of theclamp 10 is guided by theslider 334 and thestraight guide 332. - On the other hand, end
walls 338 are fixed to themovable stage 324 on both sides in the direction of movement of theclamp 10, and themovable stage 336 is disposed between theend walls 338. Arod 340 which extends along the direction of movement of theclamp 10 is provided between theend walls 338, and therod 340 extends through themovable stage 324. - Compression coil springs 346 and 348 are disposed between the
end walls 338 and themovable stage 336 viaspring seats rod 340 extends through the spring seats 342 and 344 and thecompression coil springs movable stage 336 is movable along the direction of movement of theclamp 10 while receiving biasing forces of thecompression coil springs - The
pressing members movable stages 336 which oppose each other over theendless track 11. Thepressing members side edges 350 which are substantially in parallel with each other and extend along theendless track 11, andprotrusion parts 352 which protrude further toward theendless track 11 than the side edges 350. Theprotrusion parts 352 are positioned on the downstream side of the side edges 350 in the direction of movement of theclamp 10. Accordingly, each of thepressing members FIG. 63 , thecontrol device 21 can dispose thepressing members protrusion parts 352 into contact with each other by controlling theair cylinders 326. - When the
pressing members pressing members clamp 10 in the up and down direction and pinch the part in the vicinity of the upper end part of the forearm bone b1 with a space. In other words, when thepressing members groove 354 for pinching the part in the vicinity of the upper end part of the forearm bone b1. In addition, when thepressing members protrusion parts 352 thereof form anengagement part 356 which is engaged with the part in the vicinity of the upper end part of the forearm bone b1. - When the
pressing members control device 21 can move themovable walls 308 downward by controlling theair cylinders 312 to dispose thepressing members FIG. 65 . The second operation positions are positioned slightly below the joint (elbow joint) between the forearm bone b1 and the upper arm bone b2 in the up and down direction. Consequently, as shown inFIG. 77( g), thepressing members - Subsequently, after the meat is pressed down, the
control device 21 can dispose thepressing members pressing members air cylinders 326, and can move themovable walls 308 upward by controlling theair cylinders 312. When thepressing members clamp 10 can pass between theprotrusion parts 352 of thepressing members - Note that, when the
pressing members protrusion parts 352 are pushed by the work W which is conveyed by theclamp 10, and are moved downstream in the direction of movement of theclamp 10. Thepressing members pressing members pressing members clamp 10 by the biasing force of thecompression coil spring 348, and can return to the original positions. - The olecranon
incision making device 400 is disposed on the downstream side of thepressing device 300 in the direction of movement of theclamp 10. The olecranonincision making device 400 is a device for cutting meat around the olecranon of the work W suspended from theclamp 10, and has twoolecranon cutter devices endless track 11. - The
olecranon cutter devices round blades olecranon cutter devices arms 406, and are movable between operation positions at which theolecranon cutter devices olecranon cutter devices air cylinders 408 as the actuators. - In addition, the
olecranon cutter devices control device 21 can set the positions of theround blades FIG. 45 ) determined from the X-ray image. - Consequently, the
control device 21 can cut the meat around the olecranon as shown inFIG. 77( h) by controlling the positions of theolecranon cutter devices round blades - Note that the
round blades air cylinders 408. - In the present embodiment, by bringing the
round blades clamp 10, it is possible to cut the meat around the olecranon. Note that theclamp 10 is rotated by the fourthclamp rotation device 19 such that the olecranon of the work W is disposed on the rear side in the direction of movement of theclamp 10. - In addition, preferably, the
olecranon cutter devices round blades round blade 404 a positioned on the left side in the direction of movement of theclamp 10 is rotated counterclockwise (CCW) as viewed from above, while theround blade 404 b positioned on the right side is rotated clockwise (CW) as viewed from above. - According to the embodiment described above, there is provided the deboning system of the bone-in meat including the
clamp 10 which is movable along theendless track 11 and used for suspending the bone-in meat by gripping the tip part of the forearm bone b1 of the bone-in meat, the forearm-bone incision making device which is disposed along theendless track 11 and used for cutting the meat around the forearm bone b1 of the bone-in meat suspended by theclamp 10, the olecranonincision making device 400 which is disposed along theendless track 11 and used for cutting the meat around the olecranon of the bone-in meat suspended by theclamp 10, and the lift plates 138 a and 138 b which are disposed along theendless track 11 and used for pulling the bone-in meat suspended by theclamp 10 such that the forearm bone b1 and the upper arm bone b2 of the bone-in meat are separated from each other in which the forearm-bone incision making device has therobot arm 40 disposed along theendless track 11 and the cutter tool (forearm cutter) 132 attached to therobot arm 40, and the olecranonincision making device 400 has the pair of the olecranon cutters disposed on both sides of theendless track 11. - According to the deboning system of the bone-in meat described above, the meat around the forearm bone b1 is cut using the
cutter tool 132 of the forearm-bone incision making device, and the meat around the olecranon is cut using the pair of the olecranon cutters of the olecranonincision making device 400. Thus, by using the forearm-bone incision making device and the olecranonincision making device 400, it is possible to enhance the automation rate. - On the other hand, according to the deboning system of the bone-in meat described above, after the meat around the olecranon is cut using the pair of the olecranon cutters, the forearm bone b1 and the upper arm bone b2 can be separated from each other. In this case, as compared with the case where the meat around the olecranon is cut using the
cutter tool 132 attached to therobot arm 40, meat adhering to the part around an olecranon fossa of the upper arm bone b2 is reduced and yields are improved. - Herein,
FIG. 78 is a perspective view schematically showing the upper arm bone b2, and an olecranon fossa F corresponds to a hatched region inFIG. 78 . In a state in which the bone-in meat is suspended from the clamp W, the olecranon fossa F is covered by the olecranon of the forearm bone b1, and hence it is not possible to directly cut meat present in a gap between the olecranon fossa F and the olecranon using thecutter tool 132. - To cope with this, after various studies conducted by the present inventors, it has been found that, when the forearm bone b1 and the upper arm bone b2 are separated from each other after the meat around the olecranon is cut using the olecranon
incision making device 400, meat can be torn from the olecranon fossa F and yields are improved. - In addition, in the case where the pair of the olecranon cutters include the pair of the
round blades - Further, the deboning system of the bone-in meat of the embodiment described above includes the X-ray imaging station ST4 as the olecranon position measurement device for measuring the position of the olecranon of the bone-in meat, and the olecranon
incision making device 400 operates according to the result of the measurement of the olecranon position measurement device. - According to the above configuration, the olecranon
incision making device 400 operates according to the measurement result of the olecranon position measurement device, and yields are thereby further improved. - In addition, since the transfer separation station ST10 has the
lift plates - Further, the deboning system of the bone-in meat of the embodiment described above includes the
pressing device 300 disposed along theendless track 11, and thepressing device 300 is disposed on the upstream side of the lift plates 138 a and 138 b in the direction of movement of theclamp 10, and presses down the meat around the forearm bone b1 such that the upper end part of the upper arm bone b2 of the bone-in meat is exposed. - According to the above configuration, since the upper end part of the upper arm bone b2 is exposed by the
pressing device 300, the lift plates 138 a and 138 b can reliably grip the upper end part of the upper arm bone b2. - Furthermore, the deboning system of the bone-in meat of the embodiment described above includes the fourth
clamp rotation device 19 which is disposed along theendless track 11 and rotates theclamp 10, the fourthclamp rotation device 19 is positioned on the upstream side of the olecranonincision making device 400 in the direction of movement of theclamp 10 and disposes the olecranon of the bone-in meat on the rear side in the direction of movement of theclamp 10, and the pair of the olecranon cutters approach and come in contact with the meat around the olecranon from the rear side in the direction of movement of theclamp 10. - According to the above configuration, it is possible to reliably cut the meat around the olecranon of the bone-in meat suspended from the
clamp 10 without preventing the movement of theclamp 10 along theendless track 11. - Moreover, the deboning system of the bone-in meat of the embodiment described above includes the left/right determination station (left/right determination device) ST2 for determining the left or the right of the bone-in meat, and the fourth
clamp rotation device 19 operates according to the result of the determination of the left/right determination station ST4. - According to the above configuration, even when the left and the right of the bone-in meat are confused and the bone-in meat is suspended from the
clamp 10, the olecranon of the bone-in meat is disposed on the rear side in the direction of movement of theclamp 10 by the left/right determination station ST4 and the fourthclamp rotation device 19. Accordingly, it is possible to perform deboning of the right bone-in meat and the left bone-in meat with excellent yields. - Herein,
FIG. 79 is a flowchart schematically showing procedures of the transfer separation step S40 performed in the transfer separation station ST10. According to the embodiment of the present invention described above, referring toFIGS. 2 and 78 , there is provided the deboning method of the bone-in meat including the suspension step S14 of gripping the tip end part of the forearm bone b1 of the bone-in meat and suspending the bone-in meat using the clamp 10 which is movable along the endless track 11, the forearm-bone incision making steps S16, S22, and S30 of cutting the meat around the forearm bone b1 of the bone-in meat suspended by the clamp 10 using the forearm-bone incision making device which is disposed along the endless track 11 and has the robot arm 40 and the cutter tool (forearm cutter) 132 attached to the robot arm 40, the olecranon incision making step S100 of cutting the meat around the olecranon of the bone-in meat suspended by the clamp 10 using the olecranon incision making device 400 which has the pair of the olecranon cutters disposed on both sides of the endless track 11, and the forearm-bone separation step S106 of separating the forearm bone b1 and the upper arm bone b2 from each other using the lift plates 138 a and 138 b which are disposed along the endless track 11 and are used for pulling the bone-in meat suspended by the clamp 10 such that the forearm bone b1 and the upper arm bone b2 of the bone-in meat are separated from each other. - According to the deboning method of the bone-in meat described above, the meat around the forearm bone b1 is cut using the
cutter tool 132 of the forearm-bone incision making device, and the meat around the olecranon is cut using the pair of the olecranon cutters of the olecranonincision making device 400. Thus, by using the forearm-bone incision making device and the olecranonincision making device 400, it is possible to enhance the automation rate. - On the other hand, according to the deboning method of the bone-in meat described above, after the meat around the olecranon is cut using the pair of the olecranon cutters, it is possible to separate the forearm bone b1 and the upper arm bone b2 from each other. In this case, as compared with the case where the meat around the olecranon is cut using the
cutter tool 132 attached to therobot arm 40, the meat adhering to the part around the olecranon fossa F of the upper arm bone b2 is reduced and yields are improved. - In addition, according to the deboning method of the bone-in meat of the embodiment described above, by having the pressing step S100 of pressing down the meat around the forearm bone using the
pressing device 300, the lift plates 138 a and 138 b can reliably pinch the upper end part of the upper arm bone b2. - Further, according to the deboning method of the bone-in meat of the embodiment described above, by having the elbow joint incision making step S104 of cutting a tendon around the elbow joint using the round
blade cutter devices
Claims (6)
1. An X-ray image capturing device of bone-in meat for capturing an X-ray image of the bone-in meat that is from an arm part or a thigh part of a livestock carcass in a state where the bone-in meat is suspended, comprising:
an X-ray source configured to irradiate the bone-in meat with an X-ray;
a shielding box configured to cover the bone-in meat while the X-ray image is captured;
a sensor which is disposed in the shielding box and which detects the X-ray which passes through the bone-in meat; and
a filter which is disposed between the bone-in meat and the X-ray source and which adjusts an intensity distribution of the X-ray with which the bone-in meat is irradiated.
2. The X-ray image capturing device of bone-in meat according to claim 1 , further comprising:
a rotation mechanism configured to rotate a clamp so that the bone-in meat rotates about a vertical axis in a rotation direction corresponding to whether the bone-in meat is from right side or left side of the livestock carcass in order to capturing the X-ray image, the clamp configured to hold the bone-in meat.
3. The X-ray image capturing device of bone-in meat according to claim 2 , wherein the rotation mechanism rotates the clamp such that an incident angle of the X-ray relative to a cut surface of the bone-in meat separated from a trunk is more than 30° and less than 45°.
4. The X-ray image capturing device of bone-in meat according to claim 2 , further comprising:
a shielding-box movement mechanism which moves the shielding box in a direction along an endless track and a direction orthogonal to the endless track in synchronization with the clamp.
5. A deboning system for bone-in meat, comprising:
an X-ray source configured to irradiate a bone-in meat with an X-ray;
a shielding box configured to cover the bone-in meat while an X-ray image is captured;
a sensor which is disposed in the shielding box and which detects the X-ray which passes through the bone-in meat;
a filter which is disposed between the bone-in meat and the X-ray source and which adjusts an intensity distribution of the X-ray with which the bone-in meat is irradiated; and
an incision making device configured to make an incision in the bone-in meat based on the captured X-ray image.
6. An X-ray image capturing method for capturing an X-ray image of the bone-in meat from an arm part or a thigh part of a livestock carcass in a state where the bone-in meat is suspended, the method comprising:
irradiating the bone-in meat with an X-ray from an X-ray source;
covering the bone-in meat with a shielding box in which a sensor for detecting the X-ray passing through the bone-in meat is disposed; and
disposing a filter between the bone-in meat and the X-ray source, the filter being configured to adjust an intensity distribution of the X-ray with which the bone-in meat is irradiated.
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JP2012056286 | 2012-03-13 | ||
PCT/JP2013/055299 WO2013136994A1 (en) | 2012-03-13 | 2013-02-28 | X-ray image capturing device and method for bone-in meat, and bone-in meat deboning system provided with said device |
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PCT/JP2013/055299 Continuation WO2013136994A1 (en) | 2012-03-13 | 2013-02-28 | X-ray image capturing device and method for bone-in meat, and bone-in meat deboning system provided with said device |
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US9513234B2 US9513234B2 (en) | 2016-12-06 |
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EP (1) | EP2827134B1 (en) |
JP (1) | JP5860950B2 (en) |
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- 2013-02-28 EP EP13760623.2A patent/EP2827134B1/en active Active
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US11412749B2 (en) | 2017-12-25 | 2022-08-16 | Mayekawa Mfg. Co., Ltd. | Processing system for bone-in limb meats and producing method for deboned meats |
US20220357288A1 (en) * | 2021-05-07 | 2022-11-10 | Tsinghua University | Static ct detection device |
US11925183B2 (en) * | 2021-05-07 | 2024-03-12 | Tsinghua University | Static CT detection device |
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WO2013136994A1 (en) | 2013-09-19 |
BR112014022541A2 (en) | 2021-02-23 |
EP2827134A1 (en) | 2015-01-21 |
EP2827134A4 (en) | 2015-11-11 |
DK2827134T3 (en) | 2017-03-27 |
EP2827134B1 (en) | 2017-02-15 |
US9513234B2 (en) | 2016-12-06 |
JPWO2013136994A1 (en) | 2015-08-03 |
BR112014022541B1 (en) | 2022-03-08 |
JP5860950B2 (en) | 2016-02-16 |
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